/*
 * @Date: 2020-10-07 01:36:12
 * @LastEditors: Tonser
 * @LastEditTime: 2020-10-07 02:02:23
 * @FilePath: /swarm_ws/src/px4_swarm_control/include/MsgLink/BufferRosPublish.h
 * @Description: 解析buffer 之后使用ros 发布，注意使用lock锁
 */
#ifndef INCLUDE_BUFFER_ROS_PUBLISH_H
#define INCLUDE_BUFFER_ROS_PUBLISH_H


#include <vector>
#include "../Utils/Serial_Utils.h"
#include <ros/ros.h>

class BufferROSManager{
public:
    unsigned char parseHeadAndGetMsgType(Buffer &buffer);
    unsigned char parseFrame(Buffer &Buffer,unsigned char msg_type);
private:
    void deletFirstNbytesInBuffer(Buffer &buffer);
}

#endif